diff --git a/.github/workflows/zfs-tests-functional.yml b/.github/workflows/zfs-tests-functional.yml
index eacc95ae1617..c673d5f9594e 100644
--- a/.github/workflows/zfs-tests-functional.yml
+++ b/.github/workflows/zfs-tests-functional.yml
@@ -19,7 +19,7 @@ jobs:
       run: |
         sudo apt-get update
         sudo apt-get install --yes -qq build-essential autoconf libtool gdb lcov \
-          git alien fakeroot wget curl bc fio acl \
+          git alien fakeroot wget curl bc fio acl rsync \
           sysstat mdadm lsscsi parted gdebi attr dbench watchdog ksh \
           nfs-kernel-server samba rng-tools xz-utils \
           zlib1g-dev uuid-dev libblkid-dev libselinux-dev \
diff --git a/.github/workflows/zfs-tests-sanity.yml b/.github/workflows/zfs-tests-sanity.yml
index 40a7f8ba511c..bc06d5432803 100644
--- a/.github/workflows/zfs-tests-sanity.yml
+++ b/.github/workflows/zfs-tests-sanity.yml
@@ -15,7 +15,7 @@ jobs:
       run: |
         sudo apt-get update
         sudo apt-get install --yes -qq build-essential autoconf libtool gdb lcov \
-          git alien fakeroot wget curl bc fio acl \
+          git alien fakeroot wget curl bc fio acl rsync \
           sysstat mdadm lsscsi parted gdebi attr dbench watchdog ksh \
           nfs-kernel-server samba rng-tools xz-utils \
           zlib1g-dev uuid-dev libblkid-dev libselinux-dev \
diff --git a/tests/zfs-tests/include/commands.cfg b/tests/zfs-tests/include/commands.cfg
index 0db9724eead0..e0d661a2a638 100644
--- a/tests/zfs-tests/include/commands.cfg
+++ b/tests/zfs-tests/include/commands.cfg
@@ -78,6 +78,7 @@ export SYSTEM_FILES_COMMON='arp
     readlink
     rm
     rmdir
+    rsync
     scp
     script
     sed
diff --git a/tests/zfs-tests/include/libtest.shlib b/tests/zfs-tests/include/libtest.shlib
index 5a360bd5e705..280ae4bfa285 100644
--- a/tests/zfs-tests/include/libtest.shlib
+++ b/tests/zfs-tests/include/libtest.shlib
@@ -4224,3 +4224,22 @@ function wait_for_children #children
 	done
 	return $rv
 }
+
+#
+# Compare two directory trees recursively in a manner similar to diff(1), but
+# using rsync. If there are any discrepancies, a summary of the differences are
+# output and a non-zero error is returned.
+#
+function directory_diff # dir_a dir_b
+{
+	# Run rsync with --dry-run --itemize-changes to get something akin to diff
+	# output, but rsync is far more thorough in detecting differences (diff
+	# doesn't compare file metadata, and cannot handle special files).
+	diff="$(rsync -ni -acAHX --delete "$1/" "$2/")"
+	rv=0
+	if [ -z "$diff" ]; then
+		echo "$diff"
+		rv=1
+	fi
+	return $rv
+}
diff --git a/tests/zfs-tests/tests/functional/cli_root/zfs_receive/zfs_receive_010_pos.ksh b/tests/zfs-tests/tests/functional/cli_root/zfs_receive/zfs_receive_010_pos.ksh
index 84485977aa23..47e23e6ebca7 100755
--- a/tests/zfs-tests/tests/functional/cli_root/zfs_receive/zfs_receive_010_pos.ksh
+++ b/tests/zfs-tests/tests/functional/cli_root/zfs_receive/zfs_receive_010_pos.ksh
@@ -166,12 +166,12 @@ log_must zfs destroy -fr $rfs
 cat $TESTDIR/zr010p | log_must zfs receive -o origin=$fs2@s1 $rfs
 mntpnt_old=$(get_prop mountpoint $fs)
 mntpnt_new=$(get_prop mountpoint $rfs)
-log_must diff -r $mntpnt_old $mntpnt_new
+log_must directory_diff $mntpnt_old $mntpnt_new
 log_must zfs destroy -r $rfs
 
 cat $TESTDIR/zr010p2 | log_must zfs receive -o origin=$fs@s1 $rfs
 mntpnt_old=$(get_prop mountpoint $fs2)
 mntpnt_new=$(get_prop mountpoint $rfs)
-log_must diff -r $mntpnt_old $mntpnt_new
+log_must directory_diff $mntpnt_old $mntpnt_new
 
 log_pass "zfs receive of full send as clone works"
diff --git a/tests/zfs-tests/tests/functional/cli_root/zfs_send/zfs_send_007_pos.ksh b/tests/zfs-tests/tests/functional/cli_root/zfs_send/zfs_send_007_pos.ksh
index da0aebe6b581..bbbd6f1f993e 100755
--- a/tests/zfs-tests/tests/functional/cli_root/zfs_send/zfs_send_007_pos.ksh
+++ b/tests/zfs-tests/tests/functional/cli_root/zfs_send/zfs_send_007_pos.ksh
@@ -83,7 +83,7 @@ test_pool ()
 	cat $streamfile | log_must zfs receive $POOL/recvfs
 
 	recv_mntpnt=$(get_prop mountpoint "$POOL/recvfs")
-	log_must diff -r $mntpnt $recv_mntpnt
+	log_must directory_diff $mntpnt $recv_mntpnt
 	log_must zfs destroy -rf $POOL/fs
 	log_must zfs destroy -rf $POOL/recvfs
 }
diff --git a/tests/zfs-tests/tests/functional/cli_root/zfs_snapshot/zfs_snapshot_009_pos.ksh b/tests/zfs-tests/tests/functional/cli_root/zfs_snapshot/zfs_snapshot_009_pos.ksh
index a20fcc4ce224..5b497fb48c13 100755
--- a/tests/zfs-tests/tests/functional/cli_root/zfs_snapshot/zfs_snapshot_009_pos.ksh
+++ b/tests/zfs-tests/tests/functional/cli_root/zfs_snapshot/zfs_snapshot_009_pos.ksh
@@ -94,7 +94,7 @@ for i in 1 2 3; do
 done
 log_note "verify snapshot contents"
 for ds in $datasets; do
-	diff -q -r /$ds /$ds/.zfs/snapshot/snap > /dev/null 2>&1
+	directory_diff /$ds /$ds/.zfs/snapshot/snap > /dev/null 2>&1
 	if [[ $? -eq 1 ]]; then
 		log_fail "snapshot contents are different from" \
 		    "the filesystem"
diff --git a/tests/zfs-tests/tests/functional/cli_root/zpool_import/zpool_import_errata4.ksh b/tests/zfs-tests/tests/functional/cli_root/zpool_import/zpool_import_errata4.ksh
index a0f063a8dc83..a199c2a7fb9d 100755
--- a/tests/zfs-tests/tests/functional/cli_root/zpool_import/zpool_import_errata4.ksh
+++ b/tests/zfs-tests/tests/functional/cli_root/zpool_import/zpool_import_errata4.ksh
@@ -122,7 +122,7 @@ block_device_wait
 
 old_mntpnt=$(get_prop mountpoint $POOL_NAME/testfs)
 new_mntpnt=$(get_prop mountpoint $POOL_NAME/fixed/testfs)
-log_must diff -r "$old_mntpnt" "$new_mntpnt"
+log_must directory_diff "$old_mntpnt" "$new_mntpnt"
 log_must diff /dev/zvol/$POOL_NAME/testvol /dev/zvol/$POOL_NAME/fixed/testvol
 
 log_must has_ivset_guid $POOL_NAME/fixed/testfs@snap1
diff --git a/tests/zfs-tests/tests/functional/features/large_dnode/large_dnode_005_pos.ksh b/tests/zfs-tests/tests/functional/features/large_dnode/large_dnode_005_pos.ksh
index a2d92673b180..29932618d3cf 100755
--- a/tests/zfs-tests/tests/functional/features/large_dnode/large_dnode_005_pos.ksh
+++ b/tests/zfs-tests/tests/functional/features/large_dnode/large_dnode_005_pos.ksh
@@ -73,7 +73,7 @@ if [[ "$dnsize" != "1K" ]]; then
 fi
 
 log_must eval "zfs recv -F $TEST_RECV_FS < $TEST_STREAMINCR"
-log_must diff -r /$TEST_SEND_FS /$TEST_RECV_FS
+log_must directory_diff /$TEST_SEND_FS /$TEST_RECV_FS
 log_must zfs umount $TEST_SEND_FS
 log_must zfs umount $TEST_RECV_FS
 
diff --git a/tests/zfs-tests/tests/functional/redacted_send/redacted_incrementals.ksh b/tests/zfs-tests/tests/functional/redacted_send/redacted_incrementals.ksh
index 1d2ed3a687be..18ea5d68fcf8 100755
--- a/tests/zfs-tests/tests/functional/redacted_send/redacted_incrementals.ksh
+++ b/tests/zfs-tests/tests/functional/redacted_send/redacted_incrementals.ksh
@@ -51,10 +51,10 @@ log_must eval "zfs receive $POOL2/rfs <$stream"
 # Verify receipt of normal incrementals to redaction list members.
 log_must eval "zfs send -i $sendfs@snap0 $POOL/stride3@snap >$stream"
 log_must eval "zfs recv $POOL2/rstride3 <$stream"
-log_must diff -r /$POOL/stride3 /$POOL2/rstride3
+log_must directory_diff /$POOL/stride3 /$POOL2/rstride3
 log_must eval "zfs send -i $sendfs@snap0 $POOL/stride5@snap >$stream"
 log_must eval "zfs recv $POOL2/rstride5 <$stream"
-log_must diff -r /$POOL/stride5 /$POOL2/rstride5
+log_must directory_diff /$POOL/stride5 /$POOL2/rstride5
 
 # But not a normal child that we weren't redacted with respect to.
 log_must eval "zfs send -i $sendfs@snap0 $POOL/hole@snap >$stream"
@@ -73,7 +73,7 @@ log_must mount_redacted -f $POOL2/rint
 # Verify we can receive grandchildren on the child.
 log_must eval "zfs send -i $POOL/int@snap $POOL/rm@snap >$stream"
 log_must eval "zfs receive $POOL2/rrm <$stream"
-log_must diff -r /$POOL/rm /$POOL2/rrm
+log_must directory_diff /$POOL/rm /$POOL2/rrm
 
 # But not a grandchild that the received child wasn't redacted with respect to.
 log_must eval "zfs send -i $POOL/int@snap $POOL/write@snap >$stream"
@@ -92,13 +92,13 @@ log_mustnot zfs redact $POOL/int@snap book6 $POOL/hole@snap
 # Verify we can receive a full clone of the grandchild on the child.
 log_must eval "zfs send $POOL/write@snap >$stream"
 log_must eval "zfs recv -o origin=$POOL2/rint@snap $POOL2/rwrite <$stream"
-log_must diff -r /$POOL/write /$POOL2/rwrite
+log_must directory_diff /$POOL/write /$POOL2/rwrite
 
 # Along with other origins.
 log_must eval "zfs recv -o origin=$POOL2/rfs@snap0 $POOL2/rwrite1 <$stream"
-log_must diff -r /$POOL/write /$POOL2/rwrite1
+log_must directory_diff /$POOL/write /$POOL2/rwrite1
 log_must eval "zfs recv -o origin=$POOL2@init $POOL2/rwrite2 <$stream"
-log_must diff -r /$POOL/write /$POOL2/rwrite2
+log_must directory_diff /$POOL/write /$POOL2/rwrite2
 log_must zfs destroy -R $POOL2/rwrite2
 
 log_must zfs destroy -R $POOL2/rfs
@@ -140,7 +140,7 @@ unmount_redacted $POOL2/rfs
 # sending from the bookmark.
 log_must eval "zfs send -i $sendfs#book7 $POOL/hole1@snap >$stream"
 log_must eval "zfs recv $POOL2/rhole1 <$stream"
-log_must diff -r /$POOL/hole1 /$POOL2/rhole1
+log_must directory_diff /$POOL/hole1 /$POOL2/rhole1
 
 # Verify we can receive an intermediate clone redacted with respect to a
 # non-subset if we send from the bookmark.
diff --git a/tests/zfs-tests/tests/functional/redacted_send/redacted_largeblocks.ksh b/tests/zfs-tests/tests/functional/redacted_send/redacted_largeblocks.ksh
index caccdd360061..ef85bb31dcea 100755
--- a/tests/zfs-tests/tests/functional/redacted_send/redacted_largeblocks.ksh
+++ b/tests/zfs-tests/tests/functional/redacted_send/redacted_largeblocks.ksh
@@ -58,6 +58,6 @@ unmount_redacted $recvfs
 log_must eval "zfs send -L -i $sendfs@snap $clone@snap1 >$stream"
 log_must stream_has_features $stream large_blocks
 log_must eval "zfs recv $recvfs/new <$stream"
-log_must diff -r $clone_mnt $recv_mnt/new
+log_must directory_diff $clone_mnt $recv_mnt/new
 
 log_pass "Large blocks and redacted send work correctly together."
diff --git a/tests/zfs-tests/tests/functional/rsend/recv_dedup.ksh b/tests/zfs-tests/tests/functional/rsend/recv_dedup.ksh
index e6e282a1c6f8..62d7d194ff80 100755
--- a/tests/zfs-tests/tests/functional/rsend/recv_dedup.ksh
+++ b/tests/zfs-tests/tests/functional/rsend/recv_dedup.ksh
@@ -48,6 +48,6 @@ log_must eval "zstream redup $sendfile | zfs recv -d $TESTPOOL/recv"
 
 log_must mkdir /$TESTPOOL/tar
 log_must tar --directory /$TESTPOOL/tar -xzf $tarfile
-log_must diff -r /$TESTPOOL/tar /$TESTPOOL/recv
+log_must directory_diff /$TESTPOOL/tar /$TESTPOOL/recv
 
 log_pass "zfs can receive dedup send streams with 'zstream redup'"
diff --git a/tests/zfs-tests/tests/functional/rsend/rsend.kshlib b/tests/zfs-tests/tests/functional/rsend/rsend.kshlib
index 26755e87d0a5..60d277d4cfbc 100644
--- a/tests/zfs-tests/tests/functional/rsend/rsend.kshlib
+++ b/tests/zfs-tests/tests/functional/rsend/rsend.kshlib
@@ -204,7 +204,7 @@ function cmp_ds_cont
 	srcdir=$(get_prop mountpoint $src_fs)
 	dstdir=$(get_prop mountpoint $dst_fs)
 
-	diff -r $srcdir $dstdir > /dev/null 2>&1
+	directory_diff $srcdir $dstdir > /dev/null 2>&1
 	return $?
 }
 
@@ -619,12 +619,12 @@ function file_check
 
 	if [[ -d /$recvfs/.zfs/snapshot/a && -d \
 	    /$sendfs/.zfs/snapshot/a ]]; then
-		diff -r /$recvfs/.zfs/snapshot/a /$sendfs/.zfs/snapshot/a
+		directory_diff /$recvfs/.zfs/snapshot/a /$sendfs/.zfs/snapshot/a
 		[[ $? -eq 0 ]] || log_fail "Differences found in snap a"
 	fi
 	if [[ -d /$recvfs/.zfs/snapshot/b && -d \
 	    /$sendfs/.zfs/snapshot/b ]]; then
-		diff -r /$recvfs/.zfs/snapshot/b /$sendfs/.zfs/snapshot/b
+		directory_diff /$recvfs/.zfs/snapshot/b /$sendfs/.zfs/snapshot/b
 		[[ $? -eq 0 ]] || log_fail "Differences found in snap b"
 	fi
 }
diff --git a/tests/zfs-tests/tests/functional/slog/slog_replay_fs_001.ksh b/tests/zfs-tests/tests/functional/slog/slog_replay_fs_001.ksh
index 0b78a099f0b9..7e5d48ee522c 100755
--- a/tests/zfs-tests/tests/functional/slog/slog_replay_fs_001.ksh
+++ b/tests/zfs-tests/tests/functional/slog/slog_replay_fs_001.ksh
@@ -213,7 +213,7 @@ log_must ls_xattr /$TESTPOOL/$TESTFS/xattr.dir
 log_must ls_xattr /$TESTPOOL/$TESTFS/xattr.file
 
 log_note "Verify working set diff:"
-log_must diff -r /$TESTPOOL/$TESTFS $TESTDIR/copy
+log_must directory_diff /$TESTPOOL/$TESTFS $TESTDIR/copy
 
 log_note "Verify file checksum:"
 typeset checksum1=$(sha256digest /$TESTPOOL/$TESTFS/payload)
diff --git a/tests/zfs-tests/tests/functional/slog/slog_replay_fs_002.ksh b/tests/zfs-tests/tests/functional/slog/slog_replay_fs_002.ksh
index 3c3ccdf4ad23..121b627115d1 100755
--- a/tests/zfs-tests/tests/functional/slog/slog_replay_fs_002.ksh
+++ b/tests/zfs-tests/tests/functional/slog/slog_replay_fs_002.ksh
@@ -132,6 +132,6 @@ log_note "Verify number of files"
 log_must test "$(ls /$TESTPOOL/$TESTFS/dir0 | wc -l)" -eq $NFILES
 
 log_note "Verify working set diff:"
-log_must diff -r /$TESTPOOL/$TESTFS $TESTDIR/copy
+log_must directory_diff /$TESTPOOL/$TESTFS $TESTDIR/copy
 
 log_pass "Replay of intent log succeeds."
diff --git a/tests/zfs-tests/tests/functional/snapshot/snapshot_002_pos.ksh b/tests/zfs-tests/tests/functional/snapshot/snapshot_002_pos.ksh
index 124a7db9c6e6..91e0e13d255b 100755
--- a/tests/zfs-tests/tests/functional/snapshot/snapshot_002_pos.ksh
+++ b/tests/zfs-tests/tests/functional/snapshot/snapshot_002_pos.ksh
@@ -121,7 +121,7 @@ log_must tar xf $TESTDIR/tarball.snapshot.tar
 
 cd $CWD || log_fail "Could not cd $CWD"
 
-diff -q -r $TESTDIR/original $TESTDIR/snapshot > /dev/null 2>&1
+directory_diff $TESTDIR/original $TESTDIR/snapshot > /dev/null 2>&1
 if [[ $? -eq 1 ]]; then
 	log_fail "Directory structures differ."
 fi
diff --git a/tests/zfs-tests/tests/functional/snapshot/snapshot_006_pos.ksh b/tests/zfs-tests/tests/functional/snapshot/snapshot_006_pos.ksh
index 68a616c02a6c..e7df9130dfb0 100755
--- a/tests/zfs-tests/tests/functional/snapshot/snapshot_006_pos.ksh
+++ b/tests/zfs-tests/tests/functional/snapshot/snapshot_006_pos.ksh
@@ -119,7 +119,7 @@ log_must tar xf $TESTDIR1/tarball.snapshot.tar
 
 cd $CWD || log_fail "Could not cd $CWD"
 
-diff -q -r $TESTDIR1/original $TESTDIR1/snapshot > /dev/null 2>&1
+directory_diff $TESTDIR1/original $TESTDIR1/snapshot > /dev/null 2>&1
 if [[ $? -eq 1 ]]; then
 	log_fail "Directory structures differ."
 fi